Variable speed alternating current motor



Dec. 30, 1952 R W, ANNlS 2,624,028

VARIABLE SPEED ALTERNATING CURRENT MOTOR Filed Aug. 28, 1951 2 SHEETS--SHEET l 1N VEN TOR.

Dec. 30, 1952 R W, ANN|5 2,624,028

VARIABLE SPEED ALTERNATING CURRENT MOTOR Filed Aug. 28, 1951 2 SHEETS-SHEET 2 JIyVENToR.

Patented Dec. 30, i952 UNITED STATES PATENT GFFICE VARIABLE SPEED ALTERNATING CURRENT MOTOR Robert W. Annis, Champaign, Ill.

Application August 28, 1951, Serial No. 243,957

(Cl. S18-45) Claims. l

The present invention pertains to an alternating current induction motor unit having improved means for controlling speed by control of the frequency of the motor rotor circuit.

Various methods of controlling the speed of operation of alternating current machines have heretofore been proposed. Speed change is achieved in accordance with one procedure by changing the number of poles of the motor, using multiple windings or reconnecting of the existing windings of the machine poles. The method results only in an arbitrary increase of the number of fixed speeds of operation, i. e., no flexibility with regard to intermediate speed ranges is made available by pole change. Another method involves the change of the resistance in the rotor circuit of a motor, either by the use of conductors molded in a cast armature or by external windings and slip rings, to which a variable resistance is applied by external means. This method has flexibility but affords poor regulation due to the fact that a varying external load varies the motor slip. Eiciency is diminished by absorption of power in the added resistance.

Still another method of speed control involves the use of a high resistance in the rotor and a two-phase stator, one phase or winding of which operates on fixed line voltage. The voltage of the other stator winding is varied to regulate rotor speed. This method is acceptable for use in the control of speeds of small fractional horse power servo units and the like, however it is impractical for use in larger size installations, say in excess of one horse power motors. This is due to excessive heating from the resistance and high circulating currents which are involved.

Still another method of speed regulation involves the controlling of frequency of rotor circuit E. M. F. This requires a commutator to produce and apply to the rotor winding a frequency differing from its normal operating frequency. The use of commutators is objectionable if for no other reason than the radio interference which they produce.

Other well known methods of speed control are by brush shift, objectionable not only because of its use of a commutator but also its requirement for means to effect mechanical shift of the brushes; and the method of concatenation or cascading. The last named scheme lacks flexibility or versatility, just as does the pole change method.

The present improvements afford 100% ilexibility of speed control of a polyphase induction motor by regulation of the rotor voltage frequency, without employing commutation. It avoids other objectionable features such as excessive heating, poor regulation and ineilciency mentioned above, and there are no limitations on its use regarding size of the installation to which it is adapted.

In accordance with a preferred embodiment of the present invention, three polyphase wound rotor induction motors are employed, which may have identical stator and rotor windings, and which bear a predetermined relationship with respect to the number of poles in the respective machines. One of the machines is an induction motor which is to be controlled, another acts as a generator, and the third as a frequency changer. The connections of the machines to one another are such that a change in the voltage applied to the field of the generator, produced by any well known means or, in one adaptation of the invention by an'improved auto transformer arrangement, will result in the production of a bucking frequency whose effect, throughout a Wide and entirely continuous, flexible range from standstill to synchronous speed, is to alter the speed of rotation of the motor in inverse relation to the change of the generator field voltage.

This method of speed control differs essentially from previous motor frequency control methods in that speed variation stems from variation of the respective motor field frequencies without the use of mechanical commutation. Yet it introduces a problem of low starting torque in the controlled motor, and the improved unit therefor embodies an arrangement to afford the high starting torque of a high resistance rotor circuit, coupled with a flexible range of speed regulation.

It is a general object of the invention to provide a variable speed induction motor control unit of wide and continuous range involving the use of three like induction machines, which is entirely reliable in its regulating action, not being adversely aifected by motor torque load or slip change, which does not overheat, does not require commutation, and is not particularly linuted, as to practical adaptability, by the size of the installation.

A further object is to provide a speed control unit of the sort referred to in the preceding paragraph which has means to impart improved starting torque, coupled with full flexibility of range 1n use.

Yet another object is to provide improved means to attain high starting torque in an induction motor, which means is of a character particularly well suited for association with the improved speed control unit, to the end that its inherent flexibility may be enjoyed without sacriiice of other operating quality.

A still further object is to provide an improved auto transformer voltage control unit which is particularly well suited for use in the threemotor variable frequency speed control unit.

Yet another object is to provide the combination of a three-unit motor speed control system as referred to above and the improved auto transformer Voltage control unit mentioned in the preceding paragraph. I

The foregoing statements are indicative in a general way of the nature of the invention. Other and more specific objects will be apparent to those skilled in the art upon afull under-1 standing of the construction and operation of the device. l Several embodiments of the invention are presented herein for purpose of illustration. It will be appreciated that the invention may be incorj porated in other modified forms coming equally within the scope of the appended claims.

In the drawings, c

Fig. 1 is a block-type wiring diagram illus-r trating a speed control system or installation according to one form of the invention; including a proposed means for starting torque control, this View also showing a differential motor drive adaptation of the invention; y

Fig. 2 is a schematic wiring diagram illustrating the field and rotor relationships of the three kunits ofthe installationY in a somewhat modified adaptation thereof, together with the proposed form' of starting torque control unit;

Fig. 3 is a fragmentary sectional view illustrating other proposed provisions for obtaining an improved starting torque characteristic, involving redesign of the controlled motors rotor;

Fig. 4 plots curves comparing the torque characteristic of the subject unit with those of earlier conventional rotor windings; A* l Fig. 5 is a block-type wiring diagram schematically illustrating a further embodiment of the invention employing an improved au-to transformer voltage control unit; and Y,

Fig.` 6 is" a schematic wiring diagram showing transformer connections for a modified installation.

Referringto Fig. 1, anblock wiring diagram, the reference numerals Iii,` I I, |42 designate three like,k polyphase wound. rotorV induction mo-tors which may be assumed Vto have identical stator androtor windings. Machines It and I2 are mechanically coupled by shaft I3 or equivalent connection, geared or otherwise.

The rotor windings of machines IB, i I are brush and slip ring connected through theleads It and further leads I5 connect the leads IiA to starting torque resistors i6 and a gang switch II. The field of machine EI, which may act as a motor or ysimply as a frequency changer, is normally supplied by leads I 8, I8 and a brush and slip ring connection to the, rotor of generator machine I2. The leads ita, ISD shown in dotted line in Fig. 1 are not connected in this normal operating circuit. The field of the machine I2 is supplied through leads I 9 from a variable transformer 2c, or other conventional variable voltage device, or from the particular auto transformer arrangement which is illustrated in Fig. 6 of the drawings. This transformer is supplied from a standard three-phase alternating current system 2l, which is also the source of supply for the eld of induction motor It, through leads 22. The improvement, it should be noted, is adapted to be used in any polyphase system.

The machines Ii] and I2 are arranged in such relation that by shorting leads Ill, applying voltage to leads 22 and open circuiting leads I9, the shaft I3 will rotate in one direction, whereas when voltage is supplied to leads I9, leads I8 are shorted and leads 22 are open, and the shaft I3 will rota-te in the opposite direction. If the normal connections are restored and the applied voltages are equal, the system will be at a standstill except possibly an initiall rotation togive a proper angular relationship between the shaft of motor II and shaft I3. Transformer action of the machines gives a voltage equilibrium and there are no large circulating currents.

Assuming now that the voltage applied to the eld terminalsY of generator I2 is reduced by manipulation of variable transformer 2G, machine Ii`wi-il'now commence to operate as an induction motor, the direction of rotation of its rotor being in the direction of the electric eld of the motor, thereby dropping the frequency of the rotor voltage. The rotor winding frequency is'r'epresented by theA following slip formula:

where,

fmr is the motor rotor frequency, fr. is the line voltage frequency,

n is `the shaft speed in R. S. P., and p is the number of motor poles.

The slight modified adaptation of the invention illustrated in Fig. 2 diers fromV thatof Fig. 1A in the fact that all three machines' are Inecl'iani-A cally coupled by a conventional connection gen-v The rotor ofrnotor I- is-v brush and slip ring connecteduto the rotorv ofr eraily designated 23.

machine Ii and the field winding of machine II and rotor of generator I2 are also brush andslip ring connected. Furthermore, the numbervv of poles of machine II must equal the sum'` of the' number of poles in thel machines I0 and I2, as# suming a 1:1:1 speed ratio of the three machines.

The electrical operating characteristics 0f the two installations are generally similar, hence refer ence may be had to' Fig. 2 as 'an aid in under# standing the stator-rotor, field and' rotational relationships in the three machines' of that ein'- bodiment, and also that of Fig. l. Direction of mechanical rotation of the rotorsis indicated by' solid line arrows; direction of rotating electric fields is shown by dotted line arrows.

As stated, the frequency in the rotor of motor It is equal to the line frequency minus the slipincrement due to its rotation in the direction of its eld. The frequency inthe rotor of machine'v where, fir is the frequency in the rotor of the v frequency changer I I. I

The frequency of voltage in the rotor of generator I 2 is equal to that in the frequency changer stator. Hence, the opposite mechanical rotation of the rotor and rotation of the generator field give the following substituted equation:

The frequency of generator stator voltage equals the line frequency, but is in a reverse phase sequence as compared with the motor. As a result, the motor speed may be determined through a relatively wide range by the principle of frequency control, involving control of voltage applied to the generator winding. This may be done by a single voltage regulation at the generator, as by means of variable transformer 2t, or the voltage regulation may be performed at both machines I and I2, in opposite senses at the respective machines. I have described the action which follows adjustment by reduction of the generator stator Voltage. Reversal of direction of rotation may be accomplished by increasing the generator voltage, which, in effect, signifies simply that the units I), i2 are interchanged with regard to which acts as a motor and which acts as a generator.

In the above, it has been assumed that there is a definite over-all angular relationship between the stator and rotor of machines it, l l and l2. A particular case of this relationship is shown in Fig. 2. If unity coupling and no losses for shaft rotation exist, and if equal voltages are applied, the current in leads I9 and 22 will be zero, i. e., there will be no circulating current. If the angular relationship between any two parts is shifted, the equipment will tend to rotate in one direction or the other and lose some effect as a speed control device.

The installation of Fig. 1 further features a modified concatenation of motor H and an auiliary motor Il preferably of similar nature and operating characteristics. In this installation, leads I8 are omitted and instead the iield of machine Il .is brush and slip ring connected through leads I8, 18a (the latter shown in dotted line) to the rotor winding of motor ll. Likewise, the field of I I is connected through further leads I8, l8b (the latter shown in dotted line) to the rotor of generator l2. Connection of the motors il, Il' as illustrated make the same well suited for use as a vehicle differential driving unit, while still performing the function of controlling the speed of the motor I0, as described above. An installation including the motor It and differential drive unit ll, Il provides a motor generator set which has a wide range of utility. The units may be cascaded in series for the driving of a multiplicity of shafts, with differential drive for the two wheels of each shaft.

The foregoing arrangement illustrated in Figs. 1 and 2 produces an induction motor speed control of wide and continuous flexibility over a oonsiderable range from standstill to synchronous speed. Its inherent low starting torque characteristic, due to low resistance of its rotor circuit, would be represented by the curve illustrated in dot-dash line in Fig. 4 of the drawings. On the other hand, the performance curve of a motor having high rotor circuit resistance and poor speed regulation would be represented by the curve shown in dotted line in that figure. By incorporating an auxiliary, switch controlled resistance in the rotor circuit, I combine the advantages of high starting torque and good speed regulation, and obtain the resultant curve shown in solid line in Fig. 4. Switch I1 is closed at the commencement of operation of the system to add the resistance of resistors I6, and is opened when operating speed is attained.

For the same purpose of combining desirable torque-speed control characteristics, I propose to insert a resistance in the armature of a wound recting frequency to the voltage.

6, rotor motor and, in parallel therewith, an inductance to give an equivalent low resistance in the armature when the motor is near synchronous speed, due to the inverse relationship between rotor speed and rotor winding frequency. At near synchronous speed, rotor frequency approaches zero, therefore the inductive impedance approaches zero or short circuit, and the behavior of the motor resembles that of one whose rotor terminals are short circuited. At low speed the inductance would prevent high impedance, hence the condition across the rotor terminal would appear as though only resistance was present. Accordingly, the motor will act as one with a high resistance rotor, and consequently have high torque at low speed. At intermediate speed, the two effects cross over and high torque is maintained throughout the entire speed range up to synchronous speed.

On induction motors having cast rotors, the effect can be accomplished by the use of two wind ings, one of a high resistance alloy with low selfinductance in the rotor slot, and the other of low resistance metal with high self-inductance in alternate slots around the rotor periphery. Referring to Fig. 3, there is shown a cast rotor 25 having a winding 2t of 10W self-inductance material in a slot 2l providing a large air gap. The reference numeral 28 represents a winding of high self-inductance disposed in an alternate slot 29 presenting a very small air gap. Provisions of this sort make it possible to alter the shape of the torque curve to that represented in Fig. 4, using fixed values of resistance and inductance in the rotor circuit, as distinguished from the arrangement of Figs. 1 and 2 employing external resistors.

It is seen from the above that the invention provides a system for obtaining flexible motor i, speed control, rather than two, or even more,

arbitrary selected speeds. An induction motor and induction generator are wired to oppose one another at equal voltage, and a third, similar machine is arranged in the circuit to apply a cor- That machine may also be used as a motor, if desired. The system differs from previous frequency change systems in that the control of motor speed is produced entirely by variation of the machine field and rotor winding voltages, rather than by resort to mechanical commutation.

An alternative embodiment of the control` system embodies a transformer voltage control for the motor such as is illustrated in Fig. 5 of the drawing, in which parts and connections corresponding to those shown in Figs. 1 and2 are designated by corresponding reference numerals. The transformer unit 3i) is connected by leads 3l, 32 to the stator terminals of the motor ID and generator l2, respectively, the intermediate machine H being related to the motor and generator in the manner described in connection with Fig. 1.

The transformer unit Sii is supplied froml a standard A. C. line. Its two contacts arms 33, 33 are mechanically coupled, and adjustment thereof with regard to the'secondaries 34, 34' `affords a highly desirable neness of regulation of voltage supply to the generator l2. The field voltage for motor lil is correspondingly adjusted. This arrangement has the advantage of maintaining current at relatively low value, thereby avoiding the problems in switching which are introduced by high current, and of affording very smooth voltage regulation. The machine arrespectively, which are mechanically coupled and driven together. Switch has contacts a, bi and bz, ci and c2, d1 :and d2, e1 andez, and f arranged incircumferential order asshown, Which contactsarel adaptedtobe selectively engage'dby the contact arm 35 of switch 35. That contact arm is electrically connected with the center terminal L2 of the three-wire line leading to generator l2.

Contacts and f are connected to the ends of the coil of -atransformer of the type described in the Karplus et al. patent, while the remaining contacts are connected to intermediate taps on the coil. The contacts arms 35', 31' of the switches 35, 31, which arms are operated as a gang, are also electricallyconnected to theterminalsof the coil of transformer 3e.

A second transformer 39 has its coil 39' arranged as a secondary associated with a primary winding 40, lil the primary -being supplied from a standard alterna-ting current source. Coil 3Q is connected at its ends to the remaining two terminals In and Ls for the generator or load.

Intermediate taps thereof are connected to contacts of the switches 35, 31. Switch 35 has fixed contacts A, C, E and switch 31 has similar contacts B, D, The extreme `contacts A vand F are connected to the load terminals L1 and La While intermediate contacts C and E and B and D are connected to the intermediate taps of coil 39 as described above. The operation of the unit just described is as follows: Commencing with load terminal La at the same potential as terminal L1, arms 35' will engage contact a of switch 35, arm 3S will engage contact A and arm 31 Will be open circuited. In order to alter the tential of' terminal L2 in the direction of that of terminal Le, contact arm 35 is moved clockwise to contact bi, contact arm 35 remaining in engagement With conta-ct A and arm 31 will engage contact B. To further raise the potential of terminal L2, arm 35' is `progressively engaged with contacts ci, d1 and e1, While arms Sli', 31 retain engagement with contacts A and B, respectively. When arm 35 reaches contact f, arm

se opens circuits. Arm 3i' remains in engagement with contact B.

Continuing with the adjustment, arm 35 is next moved to engagement with contact c2, contact arm 3S engages contact C :and arm 3l remains in engagement with contact B. This procedure is repeated until the potential of terminal L2 is raised' to that of L3. Each time that contact arm 35' engages contact a, arm 31 is open cir-suited and each time arm 35 engages contact f, arm 36 is open circuited. Thus it is possible to step the potential of intermedi-ate terminal L2 4from that of terminal L1 to that of terminal L3 by the values of the steps of transformer 3B. Switches 35, 36 and 31 may be mechanically coupled by gears, non-linear linkages or the like, depending upon the particular design. More units can be cascaded to reduce the number of taps, but this increases the number of switch sections.

Transformer 39 is shown as. an isolationtransformer but may also Abe an auto transformer. As an alternative arrangement, the switching' may be done vby relays to give the above. sequence.

The system has the advantage that the cost of transformer 39 may be. reduced by reducing the number of taps thereof, the savings being employed for a smaller transformer 38 having additional taps and ad-ded switching. Therating of transformer 33 has the same current value as transformer 39, but its voltage is. divided by the number of secondary terminals, N, minusone.

Thus the K.v.a. rating of transformer 33. is. the` KAL-a. rating of transformer 39 divided by the value N minus one.

If the voltage steps of transformer 3&3V are. small enough a. still smoother switching. Variation may be obtained bythe use of a high re. sistance ybrush sliding .between the contacts. of switch 35, engaging two of the contacts ofthe latter in intermediate position, as described in the K-arplus et al. patent identified above.

In an applicati-on of the circuit of Fig. 6 to the variable speed motor control described, the primary connections of the transformer may Ibe open delta, or by adding a tertiary winding andl auxiliary transformer delta delta X or Y delta X.

Primary and tertiary windings of this sort areA Well known to the art.

I claim:

l. An A. C. motor speed control unit comprising three indu-:tion machines, including a machine to be controlled, a second machine having variable means supplying voltage from a source to the field winding thereof, the rotors of said machines being mechanically coupled, and

an intermediate machine having means to sup ply its eld winding' from the rotor Winding of the second machine and further means to electrically connect its rotor Winding with that of the first named machine, whereby adjustment of said varia-ble voltage supply means varies the eld and rotor Winding frequencies of said machines in continuous, exible manner over a wide range to correspondingly vary the Irotor speed of said first named machine.

2. An A. C. motor speed control unit comprising three induction machines, including a machine to be controlled, a secondV machine having variable.

means supplying voltage from a source to the eld winding thereof, and an intermediate machine having means to supply its held Winding from the rotor winding of the second machine and further means to electrically connect its rotor winding with that of the firstv named machine. the rotors of all three machines being mechanifcally coupled, whereby adjustment of said'variable said coils and contact arms being electricallyconnected to the field winding of said second maV chine.

fl. A unit in accordance with claim 1 in which said variable voltage supply means for the field winding of said second machine includes a trans..- former having plural secondary coils and plural contact arms mechanically coupled together and electrically engageable with said respective coils, said coils and contact arms being electrically connected to the field winding of said second machine and to the eld winding of said machine to be controlled.

5. A unit in accordance with claim 1 in which said variable voltage suply means for the field of said second machine includes a transformer having plural secondary coils, plural contact arms mechanically coupled together, and contacts engaged 'by said arms which are electrically connected in cascade to said coils.

6. A unit in accordance with claim 1 in which the machine to be controlled is of the cast rotor type having the rotor thereof provided with different windings in alternate, circumferentially spaced slots, one of said windings having high resistance and low self-inductance and the other thereof having low resistance and high self-inductance.

7. A unit in accordance with claim 1 in which the machine to be controlled is of the cast rotor type having the rotor thereof provided with diiferent windings in alternate, circumferentially spaced slots, one of said windings having high resistance and low self-inductance and the other thereof having low resistance and high selfinductance, the slots receiving said iirst named winding presenting a relatively wide circumferential air gap and those receiving the second named winding presenting a relatively small air gap.

8. An A. C. motor speed control unit comprising three induction machines, including a machine to be controlled, a second machine having variable means supplying voltage from a source to the field winding thereof, the rotors of said machines being mechanically coupled, and an intermediate machine having means t0 supply its eld winding from the rotor winding of the second machine and further means t0 electrically connect its rotor winding with that of the rst named machine, whereby adjustment of said variable voltage supply means varies the eld and rotor winding frequencies of said machines in continuous, flexible manner over a Wide range to correspondingly vary the rotor speed of said first named machine, and means to regulate the voltage in the electrical connection of the rotors of said intermediate and first machines.

9. An A. C. motor speed control unit comprising a machine to be controlled, a second machine having variable means supplying voltage from a source to the eld winding thereof, the rotors of said machines being mechanically coupled, a third machine having means to electrically connect its rotor winding with that of the first named machine, and a fourth machine having its iield winding supplied from the rotor of the second machine and its rotor winding connected to the iield winding of said third machine to constitute said third and fourth machines, a concatenated diierential motor drive unit.

l0. An A. C. motor speed control unit comprising three induction machines, including a machine to be controlled, a second machine having variable means supplying voltage from a source to the eld winding thereof, the rotors of said machines being mechanically coupled, and an intermediate machine having means to supply its eld winding from the rotor Winding of the seco-nd machine and further means to electrically connect its rotor winding with that of the first named machine, the rotor of said intermediate machine being mechanically coupled to those of said first and second machines, whereby adjustment of said Variable voltage supply means Varies the eld and rotor winding frequencies of said machines in continuous, exible manner over a wide range to correspondingly vary the rotor speed of said rst named machine, and means to regulate the voltage in the electrical connection of the rotors of said intermediate and rst machines.

ROBERT W. ANNIS.

No references cited. 

